CN107563040B - AGV turning track drawing method - Google Patents
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- CN107563040B CN107563040B CN201710748954.4A CN201710748954A CN107563040B CN 107563040 B CN107563040 B CN 107563040B CN 201710748954 A CN201710748954 A CN 201710748954A CN 107563040 B CN107563040 B CN 107563040B
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Abstract
The invention discloses a method for drawing an AGV turning track, which is characterized in that under the condition of determining the outline size of the AGV, a driving path of the AGV for straight turning is set, and the driving track of the AGV is drawn according to the whole driving process of the AGV by using a calculus principle, so that the space required by the driving of the AGV is obtained. Compared with the prior art, the method for drawing the AGV turning track, which is disclosed by the invention, reasonably designs the optimal turning path and the channel width for the AGV to run according to the layout of a production workshop, does not need to test and determine the turning radius of the AGV and the channel width required by the related path on the spot, and avoids repeated reworking and paving of the AGV magnetic strips for magnetic strip navigation AGV and other navigation modes, thereby greatly reducing the labor intensity and the cost and effectively improving the rationality of operation space planning.
Description
Technical Field
The invention belongs to the technical field of AGV, and particularly relates to a method for drawing an AGV turning track.
Background
Along with the continuous development of science and technique, in the automatic commodity circulation field of carrying, AGV's the route of traveling need through predesign and laying, and AGV and skip pass through the place and need carry out road width planning, and in limited space range, AGV traveles the width of passageway and designs and seem to be especially important: if the channel is too wide, the space cannot be reasonably utilized, and if the channel is too narrow, the logistics conveying effect is affected.
The traditional AGV or skip path planning is to adjust and design the width of a channel by testing the space occupied by the AGV in the field during operation, if the skip encounters a material outside the channel during turning of the AGV, the turning radius is modified, and if the skip still encounters an external material, the width of the channel is modified; in this way, the best turning radius or path can be found only by laying the AGV magnetic strips for multiple times. For example, when a plurality of trucks are dragged by the AGVs, the path space occupied by the trucks during turning or turning is determined, and if the tracks are determined by using a traditional method, the workload becomes complicated, and especially before the trucks are not made, the channels of the traveling paths of the AGVs are planned by using a traditional method, so that the whole body flow planning and the operation space layout are difficult to start.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method for drawing an AGV turning track.
A method for drawing an AGV turning track comprises the following steps:
a) measuring the size of an AGV body, measuring the positions of an AGV traction wheel and two directional wheels, and drawing an AGV running path line L1 according to the actual running path of the AGV;
b) drawing an AGV body diagram with the traction wheel and the two directional wheels according to the sizes of the AGV body, the traction wheel and the two directional wheels measured in the step a, and connecting the middle points of the two directional wheels of the AGV body diagram to form an auxiliary line M1;
making a horizontal straight line L2, making the straight line L2 perpendicular to the auxiliary line M1, and enabling the straight line L2 to be A, and generating an AGV template picture block from the AGV body picture at the moment;
c) carrying out angular bisection on the driving path line L1 by using the circle center of the turning radius of the AGV driving path line L1 to form a plurality of path points;
d) sequentially copying the AGV template image blocks according to the number of positions of the corresponding path points in the driving direction of the AGV driving path line L1, so that the centers of the traction wheels of each AGV template image block are coincided with the path points one by one;
e) the center of the traction wheel of each AGV template image block is taken as a rotation center to rotate, so that the vertical feet A of each AGV template image block are sequentially overlapped with the horizontal straight line L2 of the previous AGV template image block;
f) the convex corners of the outermost sides of the AGV template image blocks are connected through curves, and the innermost contour lines of the AGV template image blocks are combined to form an AGV body driving track line, wherein the AGV body driving track line is an AGV turning track.
Compared with the prior art, the method for drawing the AGV turning track, which is disclosed by the invention, reasonably designs the optimal turning path and the channel width for the AGV to run according to the layout of a production workshop, does not need to test and determine the turning radius of the AGV and the channel width required by the related path on the spot, and avoids repeated reworking and paving of the AGV magnetic strips for magnetic strip navigation AGV and other navigation modes, thereby greatly reducing the labor intensity and the cost and effectively improving the rationality of operation space planning.
Preferably, the horizontal straight line L2 passes through the orienting wheel.
Preferably, the AGV template block is further provided with a traction point C, and the traction point C is positioned at the tail end of the AGV template block and is close to the middle part of the auxiliary line M1; the traction point C is arranged in the middle of the auxiliary line M1, so that the traveling path of the skip car can be better determined, and the traveling path of the skip car can be planned.
Preferably, the following components: still include the skip, the connecting portion of skip with traction point C is connected, draws skip orbit according to the traction point C of each AGV template block:
1) drawing a skip map with a connecting part and two directional wheels according to the size of the skip, and connecting the middle points of the two directional wheels of the skip map to form an auxiliary line M2;
2) making a horizontal straight line L3, making the straight line L3 be perpendicular to the auxiliary line M2, and enabling the straight line to be A1, and generating a first skip template block from the skip picture at the moment;
3) copying the first skip template image blocks corresponding to the traction points C of all AGV template image blocks, so that the connection points of the connection parts of all the first skip template image blocks are overlapped with the traction points C of all the AGV template image blocks one by one;
4) the connecting points of the connecting parts of the first skip car template picture blocks are used as rotating centers to rotate, so that the vertical feet A1 of the first skip car template picture blocks are sequentially superposed with the horizontal straight line L3 of the previous first skip car template picture block;
5) the convex corners of the outermost sides of the blocks of the skip templates are connected through curves, and the innermost contour lines of the blocks of the AGV templates are combined to form AGV and skip running tracks, and the AGV body running tracks and the skip running tracks form AGV turning tracks together.
The power traction point of the skip is set by adopting the mode, so that the turning track of the skip under the traction of the AGV and the width of a running channel can be reasonably designed, and the path channel which integrates the AGV and the skip as a whole can be conveniently further designed.
The invention also provides another AGV turning track drawing method, which comprises the following steps:
g) measuring the size of an AGV body, measuring the positions of an AGV traction wheel and two directional wheels, and drawing an AGV running path line L1 according to the actual running path of the AGV;
h) drawing an AGV body diagram with the traction wheel and the two directional wheels according to the sizes of the AGV body, the traction wheel and the two directional wheels measured in the step a, and connecting the middle points of the two directional wheels of the AGV body diagram to form an auxiliary line M1;
i) making a horizontal straight line L2, making the straight line L2 perpendicular to the auxiliary line M1, and enabling the straight line L2 to be A, and generating an AGV template picture block from the AGV body picture at the moment;
j) placing an AGV template block on an AGV driving path line L1, and placing the AGV template block on a straight path of the AGV driving path line L1 to generate a first vehicle body track graph;
k) rotating the previous vehicle body track graph by Y degrees by taking the circle center of the turning radius of the AGV driving path line L1 as a rotation center, and then rotating by taking the center of a traction wheel of the AGV template graph block at the moment as the rotation center, so that the vertical foot A is superposed with the horizontal straight line L2 of the previous vehicle body track graph, and generating the next vehicle body track graph;
l) repeating the step k, generating a plurality of vehicle body track maps, and stopping generating the vehicle body track maps when the AGV template image blocks leave the turning path of the AGV driving path line L1;
n) the convex angle of each vehicle body track graph on the outermost side is connected through a curve, and an AGV vehicle body driving track line is formed by combining the contour lines of the innermost sides of the vehicle body track graphs, wherein the AGV vehicle body driving track line is an AGV turning track.
Preferably, in step K, the AGV template block is placed on a straight path of the AGV running path line L1, and the center of the traction wheel of the AGV template block coincides with one end of the turning path of the AGV running path line L1.
Another object of the present invention is to provide another AGV turn track drawing method, which includes the following steps:
o) measuring the size of the AGV body and the positions of two traction wheels of the AGV, and drawing an AGV driving path line L1 according to the actual driving path of the AGV;
p) drawing an AGV template block with two traction wheels according to the sizes of the vehicle body and the two traction wheels measured in the step o;
q) carrying out angular bisection on the driving path line L1 by using the circle center of the turning radius of the AGV driving path line L1 to form a plurality of path points;
r) copying the AGV template image blocks according to the number of the path points, so that the centers of the first traction wheels of each AGV template image block are superposed with the path points one by one;
s) rotating by taking the center of the first traction wheel of the AGV template image block as a rotating center, enabling the second traction wheel to fall on a running path line L1 to generate a plurality of vehicle body track maps, and stopping generating the vehicle body track maps when the vehicle body track maps are parallel to a straight path of the AGV running path line L1 again;
t) the convex angles at the outermost sides of all the vehicle body track graphs are connected through curves, and the innermost contour lines of all the AGV template graph blocks are combined to form an AGV vehicle body running track line which is an AGV turning track.
Preferably, the second traction wheel is located behind the first traction wheel.
Preferably, the AGV template block is placed on a straight path of the AGV running path line L1, and the center of the first traction wheel of the AGV template block coincides with one end of the turning path of the AGV running path line L1.
By adopting the method for drawing the AGV turning track, the width of the running channel of the AGV with two power traction points on the turning running track is obtained, so that the layout planning personnel can conveniently determine the optimal running track and the optimal channel width according to the space of a reasonably utilized workshop
Drawings
FIG. 1 is a state diagram of an AGV of the present invention at the start waypoint of a travel route L1;
FIG. 2 is a state diagram of step k according to the present invention, which is obtained by rotating the center of a circle;
FIG. 3 is a state diagram of an AGV of the present invention at a second path point of a travel route L1;
FIG. 4 is a schematic illustration of an AGV according to the present invention traveling on a travel route L1;
FIG. 5 is a driving trajectory line of an AGV of the present invention taken on a driving route L1;
FIG. 6 is a running trace of an example AGV on a running route L1;
FIG. 7 is a schematic diagram of an AGV pulling two trucks according to the present invention;
FIG. 8 is a state diagram of the first skip at a starting point;
FIG. 9 is a travel path line for a first skip of the present invention;
FIG. 10 is a travel trajectory of an AGV and a first skip of the present invention;
FIG. 11 is a state diagram of a second skip of the present invention at a starting point;
FIG. 12 is a travel trajectory of a second skip according to the invention;
FIG. 13 is a travel trace of an AGV, a first skip, and a second skip of the present invention;
FIG. 14 is a schematic plan view of an example AGV;
FIG. 15 is a schematic diagram of an example three AGV traveling along a travel route L1;
FIG. 16 shows the trajectory of the AGV according to the third embodiment.
Detailed Description
The technical scheme of the invention is described in the following with the accompanying drawings:
the first embodiment is as follows:
the method for drawing the AGV turning track comprises the AGV, wherein a traction wheel is arranged on the front side of the bottom of the AGV, a group of directional wheels are arranged on the rear side of the bottom of the AGV, and the traction wheel is positioned on a vertical bisector of the two directional wheels; the method comprises the following steps:
a) referring to fig. 1, the size of the AGV body is measured, and the positions and distances of a traction wheel and two directional wheels of the AGV are measured, and a straight-line turning travel path line L1 for the AGV to travel is drawn according to the actual travel path of the AGV;
b) drawing an AGV body diagram with the traction wheel and the two directional wheels according to the size of the AGV body measured in the step a and the positions and the distances of the traction wheel and the two directional wheels, and connecting the middle points of the two directional wheels of the AGV body diagram to form an auxiliary line M1; making a horizontal straight line L2, making the straight line L2 perpendicular to the auxiliary line M1 and with the vertical foot of A, generating an AGV template picture block from the AGV body picture at the moment, and determining the point A on one of the orientation wheels for conveniently positioning the position of the point A in the following process;
c) performing angular bisection on the driving path line L1 by using the circle center D of the turning radius of the AGV driving path line L1, wherein the bisection angle is preferably 15 degrees in the embodiment, eleven path points B1 to B11 are formed, and the starting point B1 is a tangent point of the straight-line bend-in of the AGV;
d) referring to fig. 3 and 4, the AGV template blocks are sequentially copied according to the number of positions of the path points corresponding to the driving direction of the AGV driving path line L1, so that the centers of the traction wheels of each AGV template block coincide with the path points one by one, and the AGV template blocks are located at the tangent points of the AGV driving path line L1 in the bending direction to produce a first AGV template block;
e) the center of the traction wheel of each AGV template image block is taken as a rotation center to rotate, so that the vertical feet A of each AGV template image block are sequentially overlapped with the horizontal straight line L2 of the previous AGV template image block;
f) referring to fig. 5, the convex corners at the outermost sides of the AGV template image blocks are connected through smooth curves, and the contour lines at the innermost sides of the AGV template image blocks are combined to form an AGV body running track line, wherein the AGV body running track line is an AGV turning track.
The navigation mode of the AGV traction wheel can be a tape navigation mode, a laser navigation mode or an RFID navigation mode; or a central dispatching system is preferably adopted to set a driving route, and guide points do not need to be arranged on the site, so that the site is more attractive.
Preferably, in step c, in order to obtain a more accurate AGV body driving track line, the bisection angle may be set to be less, or the bisection angle is set to be infinitesimal by using a calculus principle, so as to obtain a more accurate AGV body driving track line; in step c, from the calculus concept, when the turning angle Δ θ approaches 0, no turning angle change occurs at any point on the axis M1 of the AGV, and the displacement occurs on the same straight line L2. According to the principle, all path points of the AGV are described, and finally the path of the turning movement of the outline is drawn.
Compared with the prior art, the method for drawing the AGV turning track reasonably designs the optimal turning path and the channel width for the AGV to run by utilizing the calculus principle according to the layout of a production workshop, does not need to test and determine the turning radius of the AGV and the channel width required by the related path on the spot, avoids repeated reworking and paving of the AGV magnetic strips for the navigation modes of magnetic strip navigation AGV and the like, greatly reduces the labor intensity and the cost, and effectively improves the rationality of operation space planning.
Further, referring to fig. 7, a first skip 11 is introduced to the rear of the AGV, a first connecting portion is arranged at the front end of the first skip 11, two directional wheels are arranged at the rear side of the bottom of the first skip, the first connecting portion is located on a perpendicular bisector of the two directional wheels, a traction point C is arranged on a block of the AGV template, and the traction point C is located at the tail end of the block of the AGV template and is close to the middle of an auxiliary line M1.
Referring to fig. 8, the first connection portion of the first skip car 11 is connected to the traction point C, so as to draw the moving track of the first skip car 11:
1) drawing a first skip map with a first connecting part and two directional wheels according to the size of the first skip 11, and connecting the middle points of the two directional wheels of the first skip map to form an auxiliary line M2;
2) making a horizontal straight line L3, enabling the straight line L3 to be perpendicular to the auxiliary line M2, enabling the straight line to be A1, generating a first skip template picture block from the first skip 11 at the moment, and determining an A1 point on one of the orientation wheels for conveniently positioning the position of the A1 point subsequently;
3) copying the first skip template image blocks corresponding to the traction points C of the AGV template image blocks to enable the connection points of the first connection parts of the template image blocks of each first skip 11 to be overlapped with the traction points C of the AGV template image blocks in a one-to-one manner;
4) the connecting points of the first connecting parts of the first skip car template picture blocks are used as rotating centers to rotate, so that the vertical feet A1 of the first skip car template picture blocks are sequentially overlapped with the horizontal straight line L3 of the previous first skip car template picture block;
5) referring to fig. 9 and 10, the outermost convex corners of the first skip template blocks are connected through smooth curves, and the innermost contour lines of the first skip template blocks are combined to form AGV and first skip running tracks, the AGV body running tracks and the first skip running tracks form AGV turning tracks together, or for the convenience of drawing the first skip running tracks, the AGV template blocks can be shifted out from the drawing, and the outermost convex corners and the innermost convex corners of the first skip template blocks are connected through smooth curves respectively to obtain the running tracks of the first skip.
The power traction point of the first skip 11 is set by adopting the above mode, so that the turning track of the first skip 11 under the traction of the AGV and the width of the running passage can be reasonably designed, and the path passage taking the AGV and the first skip 11 as a whole can be conveniently further designed.
Still further, referring to fig. 7, for two material trucks introduced behind the AGV, a second connecting portion is disposed at the front end of the second material truck 12, two directional wheels are disposed at the rear side of the bottom of the second material truck, the second connecting portion is located on a perpendicular bisector of the two directional wheels, a drawing point O is disposed on the first material truck template block, and the drawing point O is located at the end of the first material truck template block and is close to the middle of the auxiliary line M2.
Referring to fig. 11, the second connecting portion of the second skip car 12 is connected to the pulling point O, so as to draw the moving track of the second skip car 12:
1) drawing a second skip pattern with a second connecting part and two directional wheels according to the size of the second skip 12, and connecting the middle points of the two directional wheels of the second skip pattern to form an auxiliary line M3;
2) making a horizontal straight line L4, enabling the straight line L4 to be perpendicular to the auxiliary line M3, enabling the straight line to be A2, generating a second skip template picture block by using the second skip picture at the moment, and determining an A2 point on one of the orientation wheels of the second skip 12 for conveniently positioning the position of the A2 point in the following process;
3) copying the second skip car template image blocks corresponding to the traction points O of the first skip car template image blocks to enable the connection points of the second connection parts of the first skip car template image blocks to be in one-to-one correspondence with the traction points O of the first skip car template image blocks;
4) the connecting point of the second connecting part of each second skip car template pattern block is used as a rotation center to rotate, so that the vertical foot A2 of each second skip car template pattern block is sequentially overlapped with the horizontal straight line L4 of the previous second skip car template pattern block;
5) referring to fig. 12 and 13, the outermost convex corners of each second skip template block are connected through a smooth curve, and the driving tracks of the AGVs, the first skip 11 and the first skip 12 are formed by combining the AGV template blocks and the innermost contour lines of the first skip template blocks, and the driving tracks of the AGVs and the driving tracks of the two skips form an AGV turning track together; in order to facilitate drawing of the running track line of the second skip 12, the AGV template image blocks and the first skip 11 template image blocks can be moved out of the drawing, and the outermost convex angles and the innermost convex angles of the second skip template image blocks are respectively connected through smooth curves to obtain the running track line of the second skip 12.
By setting the power traction point of the second skip 12 in the above manner, the turning track of the second skip 12 and the width of the running passage under the traction of the first skip 11 can be reasonably designed, and the path passage integrating the AGV, the first skip 11 and the second skip 12 is convenient to further design.
And after the driving track line of the second skip 12 is obtained, resetting the AGV template block which is moved out from the drawing picture and the template block of the first skip 11 to obtain the overall turning track of the AGV which pulls the first skip 11 and the second skip 12.
Example two:
the main differences between the present embodiment and the first embodiment are as follows: the invention also provides another AGV turning track drawing method, which comprises the following steps:
g) referring to fig. 1, the size of the AGV body is measured, and the positions and distances of a traction wheel and two directional wheels of the AGV are measured, and a straight-line turning travel path line L1 for the AGV to travel is drawn according to the actual travel path of the AGV;
h) drawing an AGV body diagram with the traction wheel and the two directional wheels according to the sizes of the AGV body, the traction wheel and the two directional wheels measured in the step a, and connecting the middle points of the two directional wheels of the AGV body diagram to form an auxiliary line M1;
i) making a horizontal straight line L2, making the straight line L2 perpendicular to the auxiliary line M1 and with the vertical foot of A, generating an AGV template picture block from the AGV body picture at the moment, and determining the point A on one of the orientation wheels for conveniently positioning the position of the point A in the following process;
j) placing an AGV template block on an AGV driving path line L1, wherein the AGV template block is parallel to a straight path of the AGV driving path line L1, and a traction wheel of the AGV template block is positioned at a turning cut point of the AGV driving path line L1, so that a first vehicle body track graph is generated;
k) referring to fig. 2 and 3, the center D of the turning radius of the AGV driving route line L1 is used as a rotation center to rotate the previous vehicle body track map by 15 degrees, and then the center of the traction wheel of the AGV template block at this time is used as a rotation center to rotate, so that the foot a coincides with the horizontal straight line L2 of the previous vehicle body track map, and a next vehicle body track map is generated;
l) repeating the step k to generate a plurality of car body track graphs, and stopping generating the car body track graphs when the AGV template graph blocks leave the turning path of the AGV driving path line L1 to generate seven car body track graphs in total, wherein the traction wheels of each AGV car body track graph form seven path points on the turning path of the driving path line L1, the seven path points are B1-B7, and the starting point B1 is a tangent point of the straight-in bend of the AGV;
l1), referring to fig. 4 and 6, when the AGV template block leaves the turning path of the AGV running path line L1 (at the B7 path point), the center D of the turning radius of the AGV running path line L1 is used as the rotation center to rotate the previous car body track map by 15 degrees, and the rotated AGV template block moves to the path point where the extended straight line L0 passing through the traction wheel and the center of the radius center intersects the AGV turning path line, and then the center of the traction wheel of the AGV template block at this time is used as the rotation center to rotate, so that the foot a coincides with the horizontal straight line L2 of the previous car body track map, and the next car body track map is generated;
l2) repeating the step L1) to continuously generate a plurality of vehicle body track graphs, when the AGV template graph blocks are parallel to the straight path of the AGV running path line L1 again, stopping generating the vehicle body track graphs, and finally forming four path points on a turning path of the running path line L1 by traction wheels of the AGV vehicle body track graphs from B8 to B11, wherein the path point of the AGV vehicle body track graphs at B11 is that the AGV linearly leaves the running path line L1.
n) connecting the convex angles at the outermost sides of the car body track diagrams through curves, and combining the outline lines at the innermost sides of the car body track diagrams to form the AGV car body running track line which is the AGV turning track, referring to the figures 4 and 6.
Preferably, in step k, in order to obtain a more accurate AGV body driving track line, the rotation angle of the AGV template block may be set to be smaller, or the rotation angle is set to be infinitesimal by using a calculus principle, so as to obtain a more accurate AGV body driving track line.
Example three:
the main differences between the present embodiment and the first embodiment are as follows: the invention also discloses a method for drawing an AGV turning track with two traction wheels, which comprises the AGV, wherein the front side and the rear side of the bottom of the AGV are respectively provided with a first traction wheel 21 and a second traction wheel 22, the bottom of the AGV is also provided with a follow-up wheel for balancing the whole AGV, in the embodiment, the invention adopts a straight turning path design to draw the AGV turning track, and the method comprises the following steps:
o) referring to fig. 14, measuring the size of the AGV body and the positions and distances of two traction wheels of the AGV, and drawing a straight turning route L1 for the AGV to travel according to the actual travel path of the AGV;
p) drawing an AGV template image block with two traction wheels according to the size of the vehicle body measured in the step o and the positions and the distances of the two traction wheels;
q) performing angular bisection of an angle of 15 degrees on a driving path line L1 at the center of a turning radius of the AGV driving path line L1 to form a plurality of 14 path points in the embodiment;
r) copying the AGV template image blocks according to the number of the path points, so that the centers of the first traction wheels 21 of each AGV template image block are coincided with the path points one by one;
s) referring to fig. 15, the center of the first traction wheel 21 of the AGV template block at this time is used as the rotation center to rotate, so that the second traction wheel 22 falls on the travel path line L1, and the next AGV template block is generated;
t) repeating step q, generating 14 AGV template tiles, and the last AGV template tile is parallel to the straight path of the AGV curved path line L1;
u) referring to fig. 16, the convex corners at the outermost sides of all the car body track graphs are connected through curves, and the contour lines at the innermost sides of all the AGV template picture blocks are combined to form AGV car body running track lines, wherein the AGV car body running track lines are AGV turning tracks.
By adopting the method for drawing the AGV turning track, the width of the running channel of the AGV with two power traction points on the turning running track is obtained, and the layout planning personnel can conveniently determine the optimal running track and the optimal channel width according to the space of a reasonably utilized workshop.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (9)
1. A method for drawing an AGV turning track is characterized by comprising the following steps: the method comprises the following steps:
a) measuring the size of an AGV body, measuring the positions of an AGV traction wheel and two directional wheels, and drawing an AGV running path line L1 according to the actual running path of the AGV;
b) drawing an AGV body diagram with the traction wheel and the two directional wheels according to the position sizes of the vehicle body traction wheel and the two directional wheels measured in the step a, and connecting the middle points of the two directional wheels of the AGV body diagram to form an auxiliary line M1;
making a horizontal straight line L2, making the straight line L2 perpendicular to the auxiliary line M1, and enabling the straight line L2 to be A, and generating an AGV template picture block from the AGV body picture at the moment;
c) carrying out angular bisection on the driving path line L1 by using the circle center of the turning radius of the AGV driving path line L1 to form a plurality of path points;
d) sequentially copying the AGV template image blocks according to the number of positions of the corresponding path points in the driving direction of the AGV driving path line L1, so that the centers of the traction wheels of each AGV template image block are coincided with the path points one by one;
e) the center of the traction wheel of each AGV template image block is taken as a rotation center to rotate, so that the vertical feet A of each AGV template image block are sequentially overlapped with the horizontal straight line L2 of the previous AGV template image block;
f) the convex corners of the outermost sides of the AGV template image blocks are connected through curves, and the innermost contour lines of the AGV template image blocks are combined to form an AGV body driving track line, wherein the AGV body driving track line is an AGV turning track.
2. The method of claim 1, wherein: the horizontal straight line L2 passes through the orienting wheel.
3. The method of claim 1, wherein: the AGV template pattern block is further provided with a traction point C, and the traction point C is located at the tail end of the AGV template pattern block and is close to the middle of the auxiliary line M1.
4. The method of claim 3, wherein: still include the skip, the connecting portion of skip with traction point C is connected, draws skip orbit according to the traction point C of each AGV template block:
1) drawing a skip map with a connecting part and two directional wheels according to the size of the skip, and connecting the middle points of the two directional wheels of the skip map to form an auxiliary line M2;
2) making a horizontal straight line L3, making the straight line L3 be perpendicular to the auxiliary line M2, and enabling the straight line to be A1, and generating a first skip template block from the skip picture at the moment;
3) copying the first skip template image blocks corresponding to the traction points C of all AGV template image blocks, so that the connection points of the connection parts of all the first skip template image blocks are overlapped with the traction points C of all the AGV template image blocks one by one;
4) the connecting points of the connecting parts of the first skip car template picture blocks are used as rotating centers to rotate, so that the vertical feet A1 of the first skip car template picture blocks are sequentially superposed with the horizontal straight line L3 of the previous first skip car template picture block;
5) the convex corners of the outermost sides of the blocks of the skip templates are connected through curves, and the innermost contour lines of the blocks of the AGV templates are combined to form AGV and skip running tracks, and the AGV body running tracks and the skip running tracks form AGV turning tracks together.
5. A method for drawing an AGV turning track is characterized by comprising the following steps: the method comprises the following steps:
g) measuring the size of an AGV body, measuring the positions of an AGV traction wheel and two directional wheels, and drawing an AGV running path line L1 according to the actual running path of the AGV;
h) drawing an AGV body diagram with the traction wheel and the two directional wheels according to the sizes of the AGV body, the traction wheel and the two directional wheels measured in the step g, and connecting the middle points of the two directional wheels of the AGV body diagram to form an auxiliary line M1;
i) making a horizontal straight line L2, making the straight line L2 perpendicular to the auxiliary line M1, and enabling the straight line L2 to be A, and generating an AGV template picture block from the AGV body picture at the moment;
j) placing an AGV template block on an AGV driving path line L1, and placing the AGV template block on a straight path of the AGV driving path line L1 to generate a first vehicle body track graph;
k) rotating the previous vehicle body track graph by Y degrees by taking the circle center of the turning radius of the AGV driving path line L1 as a rotation center, and then rotating by taking the center of a traction wheel of the AGV template graph block at the moment as the rotation center, so that the vertical foot A is superposed with the horizontal straight line L2 of the previous vehicle body track graph, and generating the next vehicle body track graph;
l) repeating the step k, generating a plurality of vehicle body track maps, and stopping generating the vehicle body track maps when the AGV template image blocks leave the turning path of the AGV driving path line L1;
n) the convex angle of each vehicle body track graph on the outermost side is connected through a curve, and an AGV vehicle body driving track line is formed by combining the contour lines of the innermost sides of the vehicle body track graphs, wherein the AGV vehicle body driving track line is an AGV turning track.
6. The method of claim 5, wherein: in the step K, the AGV template image block is placed on a straight path of the AGV running path line L1, and the center of a traction wheel of the AGV template image block is overlapped with one end of a turning path of the AGV running path line L1.
7. A method for drawing an AGV turning track is characterized by comprising the following steps: the method comprises the following steps:
o) measuring the size of the AGV body and the positions of two traction wheels of the AGV, and drawing an AGV driving path line L1 according to the actual driving path of the AGV;
p) drawing an AGV template block with two traction wheels according to the sizes of the vehicle body and the two traction wheels measured in the step o;
q) carrying out angular bisection on the driving path line L1 by using the circle center of the turning radius of the AGV driving path line L1 to form a plurality of path points;
r) copying the AGV template image blocks according to the number of the path points, so that the centers of the first traction wheels of each AGV template image block are superposed with the path points one by one;
s) rotating by taking the center of the first traction wheel of the AGV template image block as a rotating center, enabling the second traction wheel to fall on a running path line L1 to generate a plurality of vehicle body track maps, and stopping generating the vehicle body track maps when the vehicle body track maps are parallel to a straight path of the AGV running path line L1 again;
t) the convex angles at the outermost sides of all the vehicle body track graphs are connected through curves, and the innermost contour lines of all the AGV template graph blocks are combined to form an AGV vehicle body running track line which is an AGV turning track.
8. The method of claim 7, wherein: the second traction wheel is positioned behind the first traction wheel.
9. The method for drawing an AGV turn track according to claim 7 or 8, wherein: the AGV template block is placed on a straight path of the AGV running path line L1, and the center of a first traction wheel of the AGV template block coincides with one end of a turning path of the AGV running path line L1.
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